CN113071378B - A multi-energy collaborative control method for power system - Google Patents

Abstract

The invention provides a multi-energy collaborative control method for a power system, which is applied to a power control system of a travel-by-wire platform. The power control system of a travel-by-wire platform includes a collaborative controller, a power source controller, a drive controller, and a brake controller. , a steering controller; the collaborative controller includes a control unit, a signal acquisition unit, a power distribution unit, a safety monitoring unit, a data storage unit and a CAN communication interface. The power source includes a hydrogen fuel cell system and a lithium battery; the collaborative controller coordinates the drive controller, brake controller, and steering controller according to the data information provided by the vehicle controller to ensure that the mobile travel platform can meet the target speed and schedule. route travel. The invention performs coordinated control on the energy mobile travel platform, so that the smoothness, braking performance, handling stability and safety of the mobile travel platform can achieve better effects, and is suitable for intelligent driving mode.

Description

A multi-energy collaborative control method for power system

technical field

The invention relates to the technical field of multi-energy coordinated control, in particular to a multi-energy coordinated control method of a power system.

Background technique

The power control system of the travel-by-wire platform is a mobile travel platform to achieve smoothness, braking and handling stability, and improve the endurance. It should have the function of coordinated control of power supply, drive, braking and steering. At the same time, in order to improve safety, it is necessary to use network communication technology to monitor and diagnose the working conditions of the power control system of the travel-by-wire platform, so as to control the safe and reliable driving of the travel-by-wire platform.

Chinese patent document "201910307160.3" proposes a fuel cell vehicle multi-source controller and control method. The multi-source controller and control method solve the problem that most fuel cell engine controllers have single hardware functions, uneven quality, and scalability. It has poor performance, is difficult to meet, and has the problem of hardware and software resource requirements for fuel cell engines and intelligent control of automobiles.

The Chinese patent document "202010348862.9" proposes a multi-energy hybrid control method, device and system for a fuel cell vehicle, which are applied to a fuel cell vehicle multi-energy hybrid control system. The vehicle running state and power supply strategy are stored in the database in advance. By obtaining the current vehicle control parameters, and determining the current vehicle running state according to the current vehicle control parameters, the preset strategy data table is searched and the The power supply strategy corresponding to the current running state of the vehicle determines the power source. The current running state of the vehicle determines the power source, and the motor controller provides the power and energy requirements of the vehicle.

None of the above patents can meet the control requirements of the travel-by-wire platform, especially the coordinated control of power supply and driving, braking and steering functions at the same time. Considering the above problems, this paper proposes a multi-energy collaborative control method for power system.

SUMMARY OF THE INVENTION

The present invention provides a power system multi-energy collaborative control method, and the technical problem solved is: aiming at the technical problems existing in the prior art and the control requirements of the wire-controlled travel platform, a power system multi-energy collaborative control method is provided, which is applied to the line The power control system of the controlled travel platform can coordinately control the power supply and the driving, braking and steering functions of the mobile travel platform, so that the smoothness, braking performance and handling stability of the mobile travel platform can achieve better results, thereby improving the endurance. and security.

In order to solve the above-mentioned technical problems, the technical scheme proposed by the present invention is:

The implementation of the present invention provides a multi-energy collaborative control method of a power system, which is applied to a power control system of a travel-by-wire platform. The power control system of the travel-by-wire platform includes a collaborative controller, a power supply controller, a steering controller, a drive controller, and a brake controller; the collaborative controller includes a control unit, a signal acquisition unit, a power distribution unit, a safety monitoring unit, and a data The storage unit and CAN communication interface; the power supply includes a hydrogen fuel cell system and a lithium battery; the collaborative controller conducts the power supply controller, drive controller, brake controller and steering controller according to the data information provided by the vehicle controller. Coordinated control, communication between cooperative controller, power supply controller, steering controller, drive controller, brake controller and vehicle controller through CAN bus;

The method steps are as follows:

Step 1: The signal acquisition unit obtains the start signal, required power, target speed and predetermined route from the vehicle controller through the CAN communication interface, and saves it in the data storage unit;

Step 2: When the start signal is valid, after the safety monitoring unit self-checks and there is no fault, the power source supplies power to the lithium battery, completes the high-voltage power-on, and the hydrogen fuel cell system starts to generate electricity; at the same time, the safety monitoring unit detects the movement status of the travel platform, The running speed and the deviation angle between the running route and the predetermined route are stored in the data storage unit;

Step 3: According to the required power, the power distribution unit determines the real-time output power output by the hydrogen fuel cell system and the lithium battery, and then the power supply controller determines the power supply mode of the power supply, and adjusts the output power to meet the required power of the mobile travel platform;

Step 4: The coordinated controller adopts the coordinated control strategy to coordinately control the steering controller, the driving controller and the braking controller, so as to determine the offset angle of the running route of the travel platform;

Step 5: The signal acquisition unit obtains the shutdown signal from the vehicle controller through the CAN communication interface. When the shutdown signal is valid, the power supply controller, steering controller, drive controller and brake controller enter the power-off process and coordinate control. The hydrogen fuel cell system is still powered by the power supply; the load of the hydrogen fuel cell system is reduced, and when its power is reduced to 0kW, the purge is carried out. After the hydrogen fuel cell system is shut down, the power control system enters the sleep state, the power off is completed, and the car stops.

Further, the cooperative controller hardware adopts Infineon's TC375 embedded security controller based on AURIX 2G multi-core architecture; the cooperative controller sends steering control signals, driving control signals and braking control signals respectively to control the steering controller, driving control brake and brake controller.

Further, the predetermined route refers to that when the travel platform is running in the intelligent driving mode, the vehicle controller will automatically plan the driving route according to the destination and road information detected by external sensors, and send it to the signal acquisition unit of the cooperative controller to thereby prevent the vehicle from traveling. Pre-judgment of the running route of the travel platform.

Further, the coordinated control of the steering controller, the driving controller and the braking controller by the coordinated control strategy is specifically as follows:

After the travel platform is started, the collaborative controller takes the travel platform’s operating speed and the deviation angle between the travel route and the predetermined route as decision-making indicators, and sets the difference between the operating speed V _x and the target speed V ₀ as ΔV, that is, ΔV=V _x -V ₀ , the absolute value of the deviation angle between the driving route and the predetermined route is |Δθ|, the first threshold value of speed and the second threshold value of speed are set to be V _m1 and V _m2 respectively, V _m2 is greater than V _m1 , set the offset The threshold of the angle is |Δθ _m |, and the coordinated control strategy is as follows:

S01: Determine the steering control signal, and determine the steering control signal according to any of the following conditions:

When Δθ=0, the cooperative controller does not send a steering control signal;

When Δθ≠0, the cooperative controller sends a steering control signal according to the size of Δθ and its sign, and the steering controller controls the steering motor to work according to the steering control signal; When it is positive, the steering motor rotates clockwise, and when it is negative, the steering motor rotates counterclockwise;

S02: Determine the value of the drive control signal, and determine the drive control signal according to any of the following conditions:

When ΔV<0, the cooperative controller sends the drive control signal according to the value of ΔV;

When ΔV=0, the cooperative controller keeps the current drive control signal unchanged;

When 0<ΔV≤V _m1 , the cooperative controller subtracts the value of the first drive control signal from the value of the drive control signal according to the magnitude of the ΔV value;

When V _m1 <ΔV≤V _m2 , the cooperative controller subtracts the value of the second driving control signal from the value of the driving control signal according to the value of ΔV;

Wherein, the value of the second driving control signal is greater than the value of the first driving control signal;

S03: Determine the braking control signal, and determine the braking control signal according to any of the following conditions:

When ΔV>V _m2 , the cooperative controller increases the braking control signal according to the value of ΔV, and the larger the value of ΔV, the greater the braking control signal;

When |Δθ|>| _Δθm |, the cooperative controller increases the braking control signal according to the size of |Δθ|, the larger the |Δθ| is, the greater the braking control signal;

S04: output the steering control signal to the steering controller, output the driving control signal to the driving controller, and output the braking control signal to the braking controller, so that the steering controller, the driving controller and the braking controller respectively according to the steering The control signal, the drive control signal and the brake control signal operate.

According to the control requirements of the travel-by-wire platform, the present invention devises a multi-energy collaborative control method for a power system, which is applied to travel-by-wire, in view of the problem that the prior art cannot simultaneously realize the coordinated control of the power supply and the functions of driving, braking and steering. The platform power control system mainly has the following advantages:

(1) A coordinated control strategy is proposed. According to the data information provided by the vehicle controller, the coordinated controller performs coordinated control on the power supply controller, drive controller, brake controller and steering controller to improve the smoothness of the mobile travel platform. Braking and handling stability and safety.

(2) The running route can be pre-judged according to the running route planned by the vehicle controller, which is suitable for the intelligent driving mode.

Description of drawings

The accompanying drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the description. They are used to explain the technical solutions of the present invention together with the embodiments of the present invention, and do not constitute a limitation on the technical solutions of the present invention.

1 is a block diagram of a power control system of a travel-by-wire platform corresponding to a multi-energy collaborative control method for a power system provided by an embodiment of the present invention;

FIG. 2 is a flowchart of a coordinated control strategy for coordinated control of multiple energy sources of a power system according to an embodiment of the present invention.

Description of reference numerals: 1. Vehicle controller; 2. Collaborative controller; 3. Power supply controller; 4. Steering controller; 5. Drive controller; 6. Brake controller; 2-1. Control unit ; 2-2. Signal acquisition unit; 2-3. Power distribution unit; 2-4. Safety monitoring unit; 2-5. Data storage unit; 2-6. CAN communication interface.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

It should be noted that although the functional modules are divided in the schematic diagram of the system and the logical sequence is shown in the flowchart, in some cases, the modules can be divided differently from the system, or executed in the order in the flowchart. steps shown or described. The terms "first", "second" and the like in the description and claims and the above drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

The invention proposes a coordinated control strategy, and the coordinated controller performs coordinated control on the power supply controller, the drive controller, the brake controller and the steering controller according to the data information provided by the vehicle controller; The route prejudges the running route to improve the smoothness, braking, handling stability and safety of the mobile travel platform.

The present invention provides a multi-energy collaborative control method for a power system, which is applied to a power control system of a travel-by-wire platform. The power control system of a travel-by-wire platform includes a collaborative controller, a power source controller, a steering controller, a drive controller, Brake controller; collaborative controller includes control unit, signal acquisition unit, power distribution unit, safety monitoring unit, data storage unit and CAN communication interface; power supply includes hydrogen fuel cell system and lithium battery; collaborative controller is based on vehicle control The data information provided by the controller can coordinately control the power supply controller, drive controller, brake controller, steering controller, and coordinate the controller, power supply controller, steering controller, drive controller, brake controller and The vehicle controllers communicate through the CAN bus.

The present invention provides a multi-energy collaborative control method for a power system. The block diagram of the power control system of the travel-by-wire platform corresponding to the control method is shown in Figure 1. 4. The drive controller 5, the brake controller 6, and the CAN bus between them jointly realize the multi-energy collaborative control of the power system. The cooperative controller 2 includes a control unit 2-1, a signal acquisition unit 2-2, a power distribution unit 2-3, a safety monitoring unit 2-4, a data storage unit 2-5, and a CAN communication interface 2-6. The vehicle controller 1 , the cooperative controller 2 , the power supply controller 3 , the steering controller 4 , the drive controller 5 and the brake controller 6 are respectively connected to each other through the CAN bus.

The steps of a multi-energy collaborative control method for a power system are as follows:

Step 1: The signal acquisition unit 2-2 obtains the starting signal, the required power, the target speed and the predetermined route from the vehicle controller 1 through the CAN communication interface 2-6, and saves them in the data storage unit 2-5;

Step 2: When the start signal is valid, after the safety monitoring unit 2-4 self-checks that there is no fault, the power source supplies power to the lithium battery, completes the high-voltage power-on, and the hydrogen fuel cell system starts to generate electricity; at the same time, the safety monitoring unit 2-4 detects The motion state, running speed and the deviation angle of the travel route and the predetermined route of the travel platform are stored in the data storage unit 2-5;

Step 3: According to the required power, the power distribution unit 2-3 determines the real-time output power output by the hydrogen fuel cell system and the lithium battery, and then the power supply controller 3 determines the power supply mode of the power supply, and adjusts the output power to meet the needs of the mobile travel platform Power; power supply modes include lithium battery power supply, hydrogen fuel cell system power supply, hydrogen fuel cell system and lithium battery hybrid power supply;

Step 4: The system controller 2 adopts a coordinated control strategy to coordinately control the steering controller 4, the drive controller 5 and the brake controller 6 to ensure that the mobile travel platform travels at the target speed and the predetermined route;

Step 5: The signal acquisition unit 2-2 obtains the shutdown signal from the vehicle controller 1 through the CAN communication interface 2-6. When the shutdown signal is valid, the power supply controller 3, the steering controller 4, the drive controller 5 and the control At the same time, the power controller 6 enters the power-off process, and the cooperative controller 2 still maintains the power supply; the hydrogen fuel cell system reduces the load. When its power drops to 0 kW, the sweep is performed. After the hydrogen fuel cell system is shut down, the power control system Enter the sleep state, power off and stop.

Repeat steps 1 to 5 to realize the smooth and safe operation of the wire-controlled travel platform according to the predetermined route.

Further, according to the required power, the power distribution unit 2-3 determines the real-time output power output by the hydrogen fuel cell system and the lithium battery, and then the power source controller 3 uses the power source power distribution method to determine the power supply mode of the power source, and adjusts the output power to meet the requirements. The required power of the mobile travel platform; the power supply methods of the power source include lithium battery power supply, hydrogen fuel cell system power supply, hydrogen fuel cell system and lithium battery hybrid power supply; the power distribution method of the power source can use the inventor's Chinese patent document The method described in "2021103689302".

Further, the hardware of the cooperative controller 2 adopts Infineon's TC375 embedded security controller based on AURIX 2G multi-core architecture; the cooperative controller sends a steering control signal, a driving control signal and a braking control signal respectively to control the steering controller 4, Drive controller 5 and brake controller 6. Infineon's AURIX TC375 microcontroller is equipped with a CAN bus communication interface and a reset button. The external power supply voltage ranges from 5V to 40V. It has the advantages of low power consumption, fast speed and good scalability.

Further, the system controller 2 adopts a coordinated control strategy to coordinately control the steering controller 4, the drive controller 5 and the brake controller 6 to ensure that the mobile travel platform travels according to the target speed and the predetermined route. The coordinated control strategy is specifically: :

The steering, driving and braking of the travel platform are realized by the corresponding steering motor, driving motor and braking motor respectively. After the travel platform is started, after the travel platform is started, the collaborative controller 2 takes the travel platform's running speed and the deviation angle between the travel route and the predetermined route as the decision indicators, and sets the difference between the running speed V _x and the target speed V ₀ as ΔV, that is, ΔV=V _x -V ₀ , the absolute value of the deviation angle between the driving route and the predetermined route is |Δθ|, and the first and second speed thresholds are set as V _m1 and V _m2 , V _m2 greater than V _m1 , set the threshold of the absolute value of the offset angle to be |Δθ _m |, and the coordinated control strategy is as follows:

S01: Determine the steering control signal, and determine the steering control signal according to any of the following conditions:

When Δθ=0, the cooperative controller 2 does not send a steering control signal, the steering controller 4 is in a standby state, and the steering motor does not work;

When Δθ≠0, the cooperative controller 2 sends a steering control signal according to the size and sign of Δθ, and the steering controller 4 controls the steering motor to work according to the steering control signal; When positive, turn clockwise, when negative, turn counterclockwise;

S02: Determine the value of the drive control signal, and determine the drive control signal according to any of the following conditions:

When ΔV<0, the cooperative controller 2 sends a drive control signal according to the value of ΔV, and the drive controller 5 controls the drive motor to increase the rotational speed and torque. The smaller the value of ΔV, the higher the rotational speed and torque of the drive motor. bigger;

When ΔV=0, the cooperative controller 2 keeps the current drive control signal unchanged, the drive controller 5 keeps the current working state, and controls the drive motor to keep the current speed and torque unchanged.

When 0< _ΔV≤Vm1 , the cooperative controller 2 subtracts the value of the first drive control signal from the value of the drive control signal according to the value of ΔV, and the drive controller 5 controls the rotational speed and torque of the drive motor to reduce the rotational speed respectively N ₁ and torque T ₁ , the smaller the value of ΔV, the smaller N ₁ and T ₁ ;

When V _m1 <ΔV≤V _m2 , the cooperative controller 2 subtracts the value of the second drive control signal from the value of the drive control signal according to the value of ΔV, and the drive controller 5 controls the rotational speed and torque of the drive motor to decrease respectively For rotational speed N ₂ and torque T ₂ , the smaller the value of ΔV, the smaller N ₂ and T ₂ ;

Wherein, the value of the second driving control signal is greater than the value of the first driving control signal, N ₂ >N ₁ , and T ₂ >T ₁ .

S03: Determine the braking control signal, and determine the braking control signal according to any of the following conditions:

When ΔV>V _m2 , the cooperative controller 2 increases the braking control signal according to the value of ΔV, and the larger the value of ΔV, the greater the braking control signal;

When |Δθ|>| _Δθm |, the cooperative controller 2 increases the braking control signal according to the size of |Δθ|, and the larger the |Δθ| is, the larger the braking control signal is;

As shown in Fig. 2, as long as ΔV>V _m2 or |Δθ|>|Δθ _m |, the braking control signal is increased. When |Δθ|≤|Δθ _m |, it is determined whether ΔV>V _m2 is established, and when ΔV> When V _m2 , the brake control signal is increased.

S04: Output the steering control signal to the steering controller 4, output the driving control signal to the driving controller 5, and output the braking control signal to the braking controller 6, so that the steering controller 4, the driving controller 5 and the braking controller 6 operates according to the steering control signal, drive control signal and brake control signal, respectively.

Further, the predetermined route refers to that when the travel platform is running in the intelligent driving mode, the vehicle controller 1 will automatically plan the travel route according to the destination and the road information detected by the external sensors, and send it to the cooperative controller 2 for signal collection. The unit 2-2 thus prejudges the running route of the travel platform. The external sensor is an ultrasonic ranging device. Generally, the number of installations is not less than 4, that is to ensure that at least one is installed on each side of the mobile travel platform. It is mainly used to detect obstacles on the road and on both sides of the road, so as to adjust the driving route and direction in time. .

The multi-energy collaborative control method for a power system provided by the present invention has been described above in detail, and the above implementation description is only used to help understand the method and the core idea of the present invention; meanwhile, for those skilled in the art, according to the present invention There will be changes in the specific implementation and application scope. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (3)

1. A multi-energy cooperative control method of a power system is applied to a drive-by-wire travel platform power control system and is characterized in that the drive-by-wire travel platform power control system comprises a cooperative controller, a power supply controller, a steering controller, a driving controller and a braking controller; the cooperative controller comprises a control unit, a signal acquisition unit, a power distribution unit, a safety monitoring unit, a data storage unit and a CAN communication interface; the power supply comprises a hydrogen fuel cell system and a lithium battery; the cooperative controller carries out cooperative control on the power supply controller, the driving controller, the braking controller and the steering controller according to data information provided by the vehicle controller, and the cooperative controller, the power supply controller, the steering controller, the driving controller, the braking controller and the vehicle controller are communicated through a CAN bus;

the method comprises the following steps:

the method comprises the following steps: the signal acquisition unit acquires a starting signal, required power, a target speed and a preset route from the vehicle control unit through the CAN communication interface and stores the starting signal, the required power, the target speed and the preset route in the data storage unit;

step two: when the starting signal is effective, after the safety monitoring unit has no fault in self-detection, the power supply supplies power to the lithium battery, high-voltage electrification is completed, and the hydrogen fuel cell system starts to generate electricity; meanwhile, the safety monitoring unit detects the motion state, the running speed and the deviation angle between the running route and the preset route of the trip platform and stores the deviation angle in the data storage unit;

step three: according to the required power, the power distribution unit determines the output power of a hydrogen fuel battery system and a lithium battery, then the power supply controller determines the power supply mode of a power supply according to the output power of the hydrogen fuel battery system and the lithium battery, and adjusts the real-time output power of the hydrogen fuel battery system and the lithium battery to meet the required power of a mobile trip platform;

step four: the cooperative controller adopts a cooperative control strategy to perform cooperative control on the steering controller, the driving controller and the brake controller so as to enable the mobile trip platform to run according to a target speed and a preset route;

step five: the signal acquisition unit acquires a closing signal from the vehicle control unit through the CAN communication interface, and when the closing signal is effective, the power supply controller, the steering controller, the driving controller and the braking controller enter a lower current process, and the cooperative controller still keeps the power supply of the power supply; the load of the hydrogen fuel cell system is reduced, when the power of the hydrogen fuel cell system is reduced to 0kW, sweeping is carried out, after the hydrogen fuel cell system is shut down, the power control system enters a dormant state, the power supply is completed, and the hydrogen fuel cell system is stopped;

the coordination control of the cooperative controller on the steering controller, the driving controller and the braking controller by adopting a coordination control strategy specifically comprises the following steps:

after the trip platform is started, the cooperative controller takes the running speed of the trip platform, the deviation angle of the running route and the preset route as decision indexes, and sets a running speed V_xWith target speed V₀Is Δ V, i.e. Δ V ═ V_x-V₀The absolute value of the deviation angle between the driving route and the preset route is | delta theta |, and the first speed threshold and the second speed threshold are respectively set as V_m1And V_m2，V_m2Greater than V_m1Let the threshold value of the offset angle be | Δ θ_mThe coordination control strategy is as follows:

s01: determining a steering control signal, determining the steering control signal according to any one of the following conditions:

when the delta theta is 0, the cooperative controller does not send a steering control signal;

when the delta theta is not equal to 0, the cooperative controller sends a steering control signal according to the size of the delta theta and the sign of the delta theta, and the steering controller controls the steering motor to work according to the steering control signal; the larger the value of | delta theta | is, the larger the rotation angle of the steering motor is, the positive sign is, the clockwise rotation of the steering motor is realized, and the counterclockwise rotation of the steering motor is realized when the negative sign is;

s02: determining a value of the drive control signal, the drive control signal being determined as either:

when the delta V is less than 0, the cooperative controller sends a driving control signal according to the magnitude of the delta V value;

when the delta V is equal to 0, the cooperative controller keeps the current driving control signal unchanged;

when 0 is present<ΔV≤V_m1According to deltaThe magnitude of the V value is the value of the drive control signal minus the value of the first drive control signal;

when V is_m1<ΔV≤V_m2Then, the cooperative controller subtracts the value of the second drive control signal from the value of the drive control signal according to the magnitude of the Δ V value;

wherein the value of the second drive control signal is greater than the value of the first drive control signal;

s03: determining a brake control signal, and determining the brake control signal according to any one of the following conditions:

when Δ V>V_m2When the vehicle is in a normal state, the cooperative controller increases the braking control signal according to the magnitude of the delta V value, and the larger the delta V value is, the larger the braking control signal is;

when | Delta theta |>|Δθ_mWhen the absolute value is greater, the cooperative controller increases the braking control signal according to the absolute value of the absolute value delta theta, and the larger the absolute value delta theta is, the larger the braking control signal is;

s04: and outputting a steering control signal to a steering controller, outputting a driving control signal to a driving controller, and outputting a braking control signal to a braking controller, so that the steering controller, the driving controller and the braking controller operate according to the steering control signal, the driving control signal and the braking control signal respectively.

2. The multi-energy cooperative control method of the power system according to claim 1, wherein the cooperative controller hardware adopts an England-based AURIX 2G multi-core architecture TC375 embedded safety controller; the cooperative controller respectively sends out a steering control signal, a driving control signal and a braking control signal to control the steering controller, the driving controller and the braking controller.

3. The multi-energy cooperative control method of the power system according to claim 1, wherein the predetermined route is a deviation angle of the running route of the travel platform determined by a vehicle controller automatically planning the running route according to road information detected by a destination and an external sensor and sending the route to a signal acquisition unit of the cooperative controller when the travel platform is operated in an intelligent driving mode.

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